Cooperating manipulator modeling and control:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düsseldorf
VDI-Verl.
1995
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | Verein Deutscher Ingenieure: [Fortschritt-Berichte VDI / 8]
470 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | VII, 115 S. Ill., graph. Darst. |
| ISBN: | 318347008X |
Internformat
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Datensatz im Suchindex
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| adam_text | Titel: Cooperating manipulator modeling and control
Autor: Connolly, Thomas Hamilton
Jahr: 1995
Contents V Contents 1 Introduction 1 1.1 Problem Statement............................ 1 1.2 Existing Work............................... 3 1.2.1 Modeling of Closed Chain Mechanisms............. 3 1.2.2 Applications Of Artificial Neural Networks in Robotics .... 4 1.2.3 Dual Quaternion Coordinates.................. 6 1.3 Outline of Work.............................. 6 2 Cooperating Manipulator Modeling 10 2.1 Kinematics ................................ 10 2.1.1 Forward Kinematics ....................... 11 2.1.2 Inverse Kinematics........................ 13 2.1.3 Jacobian and its Time-Derivative................ 13 2.2 Dynamics............. 15 2.2.1 Forward Dynamics........................ 17 2.2.2 Inverse Dynamics and Control Algorithm............26 2.3 Simulation.................................28 2.3.1 Software..............................29 2.4 Experiment................................31 2.4.1 Friction Compensation......................31 2.4.2 Implementation..........................32 2.4.2.1 Hardware........................32 2.4.2.2 Software.........................35 2.5 Results...................................36
VI Contents 3 Dynamics Modeling Using Constraint Equations 39 3.1 Generalized Formulation of Cooperating Manipulator Dynamics ... 39 3.1.1 Two PUMA 560 Manipulators Rigidly Grasping a Common Object...............................42 3.2 Rolling Constraints . . ..........................48 3.2.1 Planar Rolling...........................48 4 Neural Network Assisted Assembly 56 4.1 Assembly Task Description........................56 4.2 A Survey of Some Neural Network Methods..............58 4.2.1 Multilayered Perceptron Network................60 4.2.2 Extended Kohonen Map.....................63 4.2.2.1 Forward Computations.................63 4.2.2.2 Gradient Descent Optimization............64 4.2.2.3 Method of Ritter et al..................65 4.2.3 Numerical Results and Discussion..........-i.....66 4.2.3.1 Numerical Study....................66 4.2.3.2 Discussion........................67 4.3 Peg-in-the-Hole Insertion.........................69 4.3.1 Neural Network Hybrid Position/Force Control ........69 4.3.2 Experimental Implementation..................72 4.3.3 Results...............................73 4.4 Parts Mating Using Cooperating Manipulators.............74 4.4.1 Experimental Implementation and Results...........77 5 Trajectory Generation and Force Control Using Dual Quaternion Coordinates 80 5.1 Joint Space Interpolation.........................80 5.2 Cartesian Space Interpolation......................83 5.3 Dual Quaternion Interpolation......................87 5.4 Force Control in the Image Space....................90 5.5 Experiment................................93
Contents VII 6 Conclusions 97 6.1 Contributions...............................97 6.2 Future Research..............................99 A Kinematics and Dynamics Expressions 100 A.l Forward Kinematics ...........................100 A.2 Inverse Kinematics ...................... 101 A.3 Jacobian and its Time-Derivative ....................104 A.4 Forward and Inverse Dynamics Parameters...............107
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| any_adam_object | 1 |
| author | Connolly, Thomas Hamilton |
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| discipline | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Thesis Book |
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| indexdate | 2024-07-09T17:50:33Z |
| institution | BVB |
| isbn | 318347008X |
| language | English |
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| spelling | Connolly, Thomas Hamilton Verfasser aut Cooperating manipulator modeling and control Thomas Hamilton Connolly Als Ms. gedr. Düsseldorf VDI-Verl. 1995 VII, 115 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Verein Deutscher Ingenieure: [Fortschritt-Berichte VDI / 8] 470 Zugl.: München, Techn. Univ., Diss., 1995 Bahnsteuerung (DE-588)4042803-5 gnd rswk-swf Neuronales Netz (DE-588)4226127-2 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Gruppensteuerung (DE-588)4378104-4 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Industrieroboter (DE-588)4026861-5 s Gruppensteuerung (DE-588)4378104-4 s Bahnsteuerung (DE-588)4042803-5 s Neuronales Netz (DE-588)4226127-2 s Kollisionsschutz (DE-588)4199255-6 s DE-604 8] Verein Deutscher Ingenieure: [Fortschritt-Berichte VDI 470 (DE-604)BV000882482 470 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006871707&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Connolly, Thomas Hamilton Cooperating manipulator modeling and control Bahnsteuerung (DE-588)4042803-5 gnd Neuronales Netz (DE-588)4226127-2 gnd Industrieroboter (DE-588)4026861-5 gnd Kollisionsschutz (DE-588)4199255-6 gnd Gruppensteuerung (DE-588)4378104-4 gnd |
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| title | Cooperating manipulator modeling and control |
| title_auth | Cooperating manipulator modeling and control |
| title_exact_search | Cooperating manipulator modeling and control |
| title_full | Cooperating manipulator modeling and control Thomas Hamilton Connolly |
| title_fullStr | Cooperating manipulator modeling and control Thomas Hamilton Connolly |
| title_full_unstemmed | Cooperating manipulator modeling and control Thomas Hamilton Connolly |
| title_short | Cooperating manipulator modeling and control |
| title_sort | cooperating manipulator modeling and control |
| topic | Bahnsteuerung (DE-588)4042803-5 gnd Neuronales Netz (DE-588)4226127-2 gnd Industrieroboter (DE-588)4026861-5 gnd Kollisionsschutz (DE-588)4199255-6 gnd Gruppensteuerung (DE-588)4378104-4 gnd |
| topic_facet | Bahnsteuerung Neuronales Netz Industrieroboter Kollisionsschutz Gruppensteuerung Hochschulschrift |
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